OpenRaiser/Intern-Atlas huggingface dataset:
More Than a Feeling: Learning to Grasp and Regrasp using Vision and Touch
Venue: arXiv cs.RO 2018
Year: 2018

For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact. In this paper, we investigate how a robot can learn to use tactile information to iteratively and efficiently adjust its grasp. To this end, we propose an end-to-end action-conditional model that learns regrasping policies from raw visuo-tactile data. This model -- a deep, multimodal convolutional network -- predicts the outcome of a candidate grasp adjustment, and then executes a grasp by iteratively selecting the most promising actions. Our approach requires neither calibration of the tactile sensors, nor any analytical modeling of contact forces, thus reducing the engineering effort required to obtain efficient grasping policies. We train our model with data from about 6,450 grasping trials on a two-finger gripper equipped with GelSight high-resolution tactile sensors on each finger. Across extensive experiments, our approach outperforms a variety of baselines at (i) estimating grasp adjustment outcomes, (ii) selecting efficient grasp adjustments for quick grasping, and (iii) reducing the amount of force applied at the fingers, while maintaining competitive performance. Finally, we study the choices made by our model and show that it has successfully acquired useful and interpretable grasping behaviors.
MBA: Mini-Batch AUC Optimization
Venue: arXiv cs.LG 2018
Year: 2018

Area under the receiver operating characteristics curve (AUC) is an important metric for a wide range of signal processing and machine learning problems, and scalable methods for optimizing AUC have recently been proposed. However, handling very large datasets remains an open challenge for this problem. This paper proposes a novel approach to AUC maximization, based on sampling mini-batches of positive/negative instance pairs and computing U-statistics to approximate a global risk minimization problem. The resulting algorithm is simple, fast, and learning-rate free. We show that the number of samples required for good performance is independent of the number of pairs available, which is a quadratic function of the positive and negative instances. Extensive experiments show the practical utility of the proposed method.
Review of Applications of Generalized Regression Neural Networks in Identification and Control of Dynamic Systems
Venue: arXiv cs.NE 2018
Year: 2018

This paper depicts a brief revision of Generalized Regression Neural Networks (GRNN) applications in system identification and control of dynamic systems. In addition, a comparison study between the performance of back-propagation neural networks and GRNN is presented for system identification problems. The results of the comparison confirm that GRNN has shorter training time and higher accuracy than the counterpart back-propagation neural networks.
Unsupervised detection of diachronic word sense evolution
Venue: arXiv cs.CL 2018
Year: 2018

Most words have several senses and connotations which evolve in time due to semantic shift, so that closely related words may gain different or even opposite meanings over the years. This evolution is very relevant to the study of language and of cultural changes, but the tools currently available for diachronic semantic analysis have significant, inherent limitations and are not suitable for real-time analysis. In this article, we demonstrate how the linearity of random vectors techniques enables building time series of congruent word embeddings (or semantic spaces) which can then be compared and combined linearly without loss of precision over any time period to detect diachronic semantic shifts. We show how this approach yields time trajectories of polysemous words such as amazon or apple, enables following semantic drifts and gender bias across time, reveals the shifting instantiations of stable concepts such as hurricane or president. This very fast, linear approach can easily be distributed over many processors to follow in real time streams of social media such as Twitter or Facebook; the resulting, time-dependent semantic spaces can then be combined at will by simple additions or subtractions.
Automating Personnel Rostering by Learning Constraints Using Tensors
Venue: arXiv cs.AI 2018
Year: 2018

Many problems in operations research require that constraints be specified in the model. Determining the right constraints is a hard and laborsome task. We propose an approach to automate this process using artificial intelligence and machine learning principles. So far there has been only little work on learning constraints within the operations research community. We focus on personnel rostering and scheduling problems in which there are often past schedules available and show that it is possible to automatically learn constraints from such examples. To realize this, we adapted some techniques from the constraint programming community and we have extended them in order to cope with multidimensional examples. The method uses a tensor representation of the example, which helps in capturing the dimensionality as well as the structure of the example, and applies tensor operations to find the constraints that are satisfied by the example. To evaluate the proposed algorithm, we used constraints from the Nurse Rostering Competition and generated solutions that satisfy these constraints; these solutions were then used as examples to learn constraints. Experiments demonstrate that the proposed algorithm is capable of producing human readable constraints that capture the underlying characteristics of the examples.
Performance Benchmarking and Optimizing Hyperledger Fabric Blockchain Platform
Venue: arXiv cs.DC 2018
Year: 2018

The rise in popularity of permissioned blockchain platforms in recent time is significant. Hyperledger Fabric is one such permissioned blockchain platform and one of the Hyperledger projects hosted by the Linux Foundation. The Fabric comprises various components such as smart-contracts, endorsers, committers, validators, and orderers. As the performance of blockchain platform is a major concern for enterprise applications, in this work, we perform a comprehensive empirical study to characterize the performance of Hyperledger Fabric and identify potential performance bottlenecks to gain a better understanding of the system. We follow a two-phased approach. In the first phase, our goal is to understand the impact of various configuration parameters such as block size, endorsement policy, channels, resource allocation, state database choice on the transaction throughput & latency to provide various guidelines on configuring these parameters. In addition, we also aim to identify performance bottlenecks and hotspots. We observed that (1) endorsement policy verification, (2) sequential policy validation of transactions in a block, and (3) state validation and commit (with CouchDB) were the three major bottlenecks. In the second phase, we focus on optimizing Hyperledger Fabric v1.0 based on our observations. We introduced and studied various simple optimizations such as aggressive caching for endorsement policy verification in the cryptography component (3x improvement in the performance) and parallelizing endorsement policy verification (7x improvement). Further, we enhanced and measured the effect of an existing bulk read/write optimization for CouchDB during state validation & commit phase (2.5x improvement). By combining all three optimizations1, we improved the overall throughput by 16x (i.e., from 140 tps to 2250 tps).
Syntactic Dependency Representations in Neural Relation Classification
Venue: arXiv cs.CL 2018
Year: 2018

We investigate the use of different syntactic dependency representations in a neural relation classification task and compare the CoNLL, Stanford Basic and Universal Dependencies schemes. We further compare with a syntax-agnostic approach and perform an error analysis in order to gain a better understanding of the results.
Popular Matchings and Limits to Tractability
Venue: arXiv cs.DM 2018
Year: 2018

We consider popular matching problems in both bipartite and non-bipartite graphs with strict preference lists. It is known that every stable matching is a min-size popular matching. A subclass of max-size popular matchings called dominant matchings has been well-studied in bipartite graphs: they always exist and there is a simple linear time algorithm to find one. We show that stable and dominant matchings are the only two tractable subclasses of popular matchings in bipartite graphs; more precisely, we show that it is NP-complete to decide if $G$ admits a popular matching that is neither stable nor dominant. We also show a number of related hardness results, such as (tight) inapproximability of the maximum weight popular matching problem. In non-bipartite graphs, we show a strong negative result: it is NP-hard to decide whether a popular matching exists or not, and the same result holds if we replace popular with dominant. On the positive side, we show the following results in any graph: - we identify a subclass of dominant matchings called strongly dominant matchings and show a linear time algorithm to decide if a strongly dominant matching exists or not; - we show an efficient algorithm to compute a popular matching of minimum cost in a graph with edge costs and bounded treewidth.
Enabling LTE RACH Collision Multiplicity Detection via Machine Learning
Venue: arXiv cs.IT 2018
Year: 2018

The collision resolution mechanism in the Random Access Channel (RACH) procedure of the Long-Term Evolution (LTE) standard is known to represent a serious bottleneck in case of machine-type traffic. Its main drawbacks are seen in the facts that Base Stations (eNBs) typically cannot infer the number of collided User Equipments (UEs) and that collided UEs learn about the collision only implicitly, through the lack of the feedback in the later stage of the RACH procedure. The collided UEs then restart the procedure, thereby increasing the RACH load and making the system more prone to collisions. In this paper, we leverage machine learning techniques to design a system that outperforms the state-of-the-art schemes in preamble detection for the LTE RACH procedure. Most importantly, our scheme can also estimate the collision multiplicity, and thus gather information about how many devices chose the same preamble. This data can be used by the eNB to resolve collisions, increase the supported system load and reduce transmission latency. The presented approach is applicable to novel 3GPP standards that target massive IoT, e.g., LTE-M and NB-IoT.
Limitless HTTP in an HTTPS World: Inferring the Semantics of the HTTPS Protocol without Decryption
Venue: arXiv cs.CR 2018
Year: 2018

We present new analytic techniques for inferring HTTP semantics from passive observations of HTTPS that can infer the value of important fields including the status-code, Content-Type, and Server, and the presence or absence of several additional HTTP header fields, e.g., Cookie and Referer. Our goals are twofold: to better understand the limitations of the confidentiality of HTTPS, and to explore benign uses of traffic analysis such as application troubleshooting and malware detection that could replace HTTPS interception and static private keys in some scenarios. We found that our techniques improve the efficacy of malware detection, but they do not enable more powerful website fingerprinting attacks against Tor. Our broader set of results raises concerns about the confidentiality goals of TLS relative to a user's expectation of privacy, warranting future research. We apply our methods to the semantics of both HTTP/1.1 and HTTP/2 on data collected from automated runs of Firefox 58.0, Chrome 63.0, and Tor Browser 7.0.11 in a lab setting, and from applications running in a malware sandbox. We obtain ground truth plaintext for a diverse set of applications from the malware sandbox by extracting the key material needed for decryption from RAM post-execution. We developed an iterative approach to simultaneously solve several multi-class (field values) and binary (field presence) classification problems, and we show that our inference algorithm achieves an unweighted $F_1$ score greater than 0.900 for most HTTP fields examined.
Convex Language Semantics for Nondeterministic Probabilistic Automata
Venue: arXiv cs.FL 2018
Year: 2018

We explore language semantics for automata combining probabilistic and nondeterministic behavior. We first show that there are precisely two natural semantics for probabilistic automata with nondeterminism. For both choices, we show that these automata are strictly more expressive than deterministic probabilistic automata, and we prove that the problem of checking language equivalence is undecidable by reduction from the threshold problem. However, we provide a discounted metric that can be computed to arbitrarily high precision.
Semantically-informed distance and similarity measures for paraphrase plagiarism identification
Venue: arXiv cs.CL 2018
Year: 2018

Paraphrase plagiarism identification represents a very complex task given that plagiarized texts are intentionally modified through several rewording techniques. Accordingly, this paper introduces two new measures for evaluating the relatedness of two given texts: a semantically-informed similarity measure and a semantically-informed edit distance. Both measures are able to extract semantic information from either an external resource or a distributed representation of words, resulting in informative features for training a supervised classifier for detecting paraphrase plagiarism. Obtained results indicate that the proposed metrics are consistently good in detecting different types of paraphrase plagiarism. In addition, results are very competitive against state-of-the art methods having the advantage of representing a much more simple but equally effective solution.
Maximizing Service Reward for Queues with Deadlines
Venue: arXiv cs.PF 2018
Year: 2018

In this paper we consider a real time queuing system with rewards and deadlines. We assume that packet processing time is known upon arrival, as is the case in communication networks. This assumption allows us to demonstrate that the well known Earliest-Deadline-First policy performance can be improved. We then propose a scheduling policy that provides excellent results for packets with rewards and deadlines. We prove that the policy is optimal under deterministic service time and binomial reward distribution. In the more general case we prove that the policy processes the maximal number of packets while collecting rewards higher than the expected reward. We present simulation results that show its high performance in more generic cases compared to the most commonly used scheduling policies.
DeepBugs: A Learning Approach to Name-based Bug Detection
Venue: arXiv cs.SE 2018
Year: 2018

Natural language elements in source code, e.g., the names of variables and functions, convey useful information. However, most existing bug detection tools ignore this information and therefore miss some classes of bugs. The few existing name-based bug detection approaches reason about names on a syntactic level and rely on manually designed and tuned algorithms to detect bugs. This paper presents DeepBugs, a learning approach to name-based bug detection, which reasons about names based on a semantic representation and which automatically learns bug detectors instead of manually writing them. We formulate bug detection as a binary classification problem and train a classifier that distinguishes correct from incorrect code. To address the challenge that effectively learning a bug detector requires examples of both correct and incorrect code, we create likely incorrect code examples from an existing corpus of code through simple code transformations. A novel insight learned from our work is that learning from artificially seeded bugs yields bug detectors that are effective at finding bugs in real-world code. We implement our idea into a framework for learning-based and name-based bug detection. Three bug detectors built on top of the framework detect accidentally swapped function arguments, incorrect binary operators, and incorrect operands in binary operations. Applying the approach to a corpus of 150,000 JavaScript files yields bug detectors that have a high accuracy (between 89% and 95%), are very efficient (less than 20 milliseconds per analyzed file), and reveal 102 programming mistakes (with 68% true positive rate) in real-world code.
Active and Adaptive Sequential learning
Venue: arXiv cs.LG 2018
Year: 2018

A framework is introduced for actively and adaptively solving a sequence of machine learning problems, which are changing in bounded manner from one time step to the next. An algorithm is developed that actively queries the labels of the most informative samples from an unlabeled data pool, and that adapts to the change by utilizing the information acquired in the previous steps. Our analysis shows that the proposed active learning algorithm based on stochastic gradient descent achieves a near-optimal excess risk performance for maximum likelihood estimation. Furthermore, an estimator of the change in the learning problems using the active learning samples is constructed, which provides an adaptive sample size selection rule that guarantees the excess risk is bounded for sufficiently large number of time steps. Experiments with synthetic and real data are presented to validate our algorithm and theoretical results.
Building your Cross-Platform Application with RHEEM
Venue: arXiv cs.DB 2018
Year: 2018

Today, organizations typically perform tedious and costly tasks to juggle their code and data across different data processing platforms. Addressing this pain and achieving automatic cross-platform data processing is quite challenging because it requires quite good expertise for all the available data processing platforms. In this report, we present Rheem, a general-purpose cross-platform data processing system that alleviates users from the pain of finding the most efficient data processing platform for a given task. It also splits a task into subtasks and assigns each subtask to a specific platform to minimize the overall cost (e.g., runtime or monetary cost). To offer cross-platform functionality, it features (i) a robust interface to easily compose data analytic tasks; (ii) a novel cost-based optimizer able to find the most efficient platform in almost all cases; and (iii) an executor to efficiently orchestrate tasks over different platforms. As a result, it allows users to focus on the business logic of their applications rather than on the mechanics of how to compose and execute them. Rheem is released under an open source license.
Adversarial Learning of Task-Oriented Neural Dialog Models
Venue: arXiv cs.CL 2018
Year: 2018

In this work, we propose an adversarial learning method for reward estimation in reinforcement learning (RL) based task-oriented dialog models. Most of the current RL based task-oriented dialog systems require the access to a reward signal from either user feedback or user ratings. Such user ratings, however, may not always be consistent or available in practice. Furthermore, online dialog policy learning with RL typically requires a large number of queries to users, suffering from sample efficiency problem. To address these challenges, we propose an adversarial learning method to learn dialog rewards directly from dialog samples. Such rewards are further used to optimize the dialog policy with policy gradient based RL. In the evaluation in a restaurant search domain, we show that the proposed adversarial dialog learning method achieves advanced dialog success rate comparing to strong baseline methods. We further discuss the covariate shift problem in online adversarial dialog learning and show how we can address that with partial access to user feedback.
"Press Space to Fire": Automatic Video Game Tutorial Generation
Venue: arXiv cs.AI 2018
Year: 2018

We propose the problem of tutorial generation for games, i.e. to generate tutorials which can teach players to play games, as an AI problem. This problem can be approached in several ways, including generating natural language descriptions of game rules, generating instructive game levels, and generating demonstrations of how to play a game using agents that play in a human-like manner. We further argue that the General Video Game AI framework provides a useful testbed for addressing this problem.
A Fine-to-Coarse Convolutional Neural Network for 3D Human Action Recognition
Venue: arXiv cs.CV 2018
Year: 2018

This paper presents a new framework for human action recognition from a 3D skeleton sequence. Previous studies do not fully utilize the temporal relationships between video segments in a human action. Some studies successfully used very deep Convolutional Neural Network (CNN) models but often suffer from the data insufficiency problem. In this study, we first segment a skeleton sequence into distinct temporal segments in order to exploit the correlations between them. The temporal and spatial features of a skeleton sequence are then extracted simultaneously by utilizing a fine-to-coarse (F2C) CNN architecture optimized for human skeleton sequences. We evaluate our proposed method on NTU RGB+D and SBU Kinect Interaction dataset. It achieves 79.6% and 84.6% of accuracies on NTU RGB+D with cross-object and cross-view protocol, respectively, which are almost identical with the state-of-the-art performance. In addition, our method significantly improves the accuracy of the actions in two-person interactions.
Regions, Innovation Systems, and the North-South Divide in Italy
Venue: arXiv cs.DL 2018
Year: 2018

Using firm-level data collected by Statistics Italy for 2008, 2011, and 2015, we examine the Triple-Helix synergy among geographical and size distributions of firms, and the NACE codes attributed to these firms, at the different levels of regional and national government. At which levels is innovation-systemness indicated? The contributions of regions to the Italian innovation system have increased, but synergy generation between regions and supra-regionally has remained at almost 45%. As against the statistical classification of Italy into twenty regions or into Northern, Central, and Southern Italy, the greatest synergy is retrieved by considering the country in terms of Northern and Southern Italy as two sub-systems, with Tuscany included as part of Northern Italy. We suggest that separate innovation strategies should be developed for these two parts of the country. The current focus on regions for innovation policies may to some extent be an artifact of the statistics and EU policies. In terms of sectors, both medium- and high-tech manufacturing (MHTM) and knowledge-intensive services (KIS) are proportionally integrated in the various regions.
Hypervisor-Based Active Data Protection for Integrity and Confidentiality of Dynamically Allocated Memory in Windows Kernel
Venue: arXiv cs.CR 2018
Year: 2018

One of the main issues in the OS security is providing trusted code execution in an untrusted environment. During executing, kernel-mode drivers dynamically allocate memory to store and process their data: Windows core kernel structures, users' private information, and sensitive data of third-party drivers. All this data can be tampered with by kernel-mode malware. Attacks on Windows-based computers can cause not just hiding a malware driver, process privilege escalation, and stealing private data but also failures of industrial CNC machines. Windows built-in security and existing approaches do not provide the integrity and confidentiality of the allocated memory of third-party drivers. The proposed hypervisor-based system (AllMemPro) protects allocated data from being modified or stolen. AllMemPro prevents access to even 1 byte of allocated data, adapts for newly allocated memory in real time, and protects the driver without its source code. AllMemPro works well on newest Windows 10 1709 x64.